两轮机器人具有内发动机机制的感知运动系统的建立  

Establishment of a Two-wheeled Robot s Sensorimotor System with Mechanism of Intrinsic Motivation

作　　者：张晓平[1,2,3] 阮晓钢[1,2] 肖尧[1,2] 朱晓庆[1,2] 

机构地区：[1]北京工业大学电子信息与控制工程学院,中国北京100124 [2]计算智能与智能系统北京市重点实验室,中国北京100124 [3]密歇根州立大学心理系,美国密歇根州MI48824

出　　处：《自动化学报》2016年第8期1175-1184,共10页Acta Automatica Sinica

基　　金：国家自然科学基金(61375086);国家留学基金(201406540017)资助~~

摘　　要：针对两轮机器人运动平衡控制问题,为其建立起一种人工感知运动系统TWR-SMS(Two-wheeled robot sensorimotor system),使机器人在与环境的接触过程中可以通过学习自主掌握运动平衡技能.感知运动系统的认知系统以学习自动机为数学模型,引入好奇心和取向性概念,设计了能够主动探索环境以及主动学习环境的内发动机机制.实验结果证明内发动机机制的引入不仅提高了机器人的自学习和自组织特性,同时能够有效避免小概率事件的发生,稳定性较高.与传统线性二次型调节器(Linear quadratic regulator,LQR)控制方法的对比实验表明系统具有更好的鲁棒性.Aimed at solving the problem of two-wheeled robot s balance control in movement, a kind of artificial sensorimotor system named TWR-SMS（two-wheeled robot sensorimotor system） is established, which endows the robot with the ability to keep balance through contacting with the environment. The cognitive system of the TWR-SMS is designed based on learning automaton, and the concepts of curiosity and orientation are introduced, as well as the mechanism of intrinsic motivation which can help the robot explore and learn the environment actively is designed. The experimentsresults show that the mechanism of the intrinsic motivation not only improves the robot s ability of self-learning and self-organizing, but also avoids the small probability event effectively, which helps keep the robot with high stability. The comparative experiments with linear quadratic regulator（LQR） show that this system has better robustness.

关 键 词：两轮机器人 自平衡控制 感知运动系统 内发动机机制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]